TWI759195B

TWI759195B - Multiple floors article transporting method for automatic guided vehicle, multiple floors transporting control system for automatic guided vehicle and automatic guided vehicle for multiple floors transporting article thereof

Info

Publication number: TWI759195B
Application number: TW110116034A
Authority: TW
Inventors: 李奕廷; 鍾承運; 黃耀慶
Original assignee: 東元電機股份有限公司
Priority date: 2021-05-04
Filing date: 2021-05-04
Publication date: 2022-03-21
Also published as: TW202244651A

Abstract

A multiple floors transporting control system for automatic guided vehicle includes an elevator equipment and an automatic guided vehicle for multiple floors transporting article. The multiple floors article transporting method for automatic guided vehicle is to use n electronic equipment to send a work instruction to the automatic guided vehicle, so that the automatic guided vehicle plans the moving path between the floors. Then the automatic guided vehicle moves toward the elevator equipment according to the moving path between the floors, and controls the elevator door of a current floor opening before the automatic guided vehicle moves to the carriage. When the automatic guided vehicle moves to the cage, the elevator door of the current floor is controlled to close, and the cage is controlled to move to a target floor. Finally, when the cage moves to a target floor, the elevator door of the target floor is controlled to open.

Description

無人搬運車之多樓層運送物品方法、無人搬運車之多樓層運送控制系統及其多樓層運送物品之無人搬運車Multi-floor conveying method of unmanned guided vehicle, multi-floor conveyance control system of unmanned guided vehicle, and unmanned guided vehicle for multi-floor conveying of goods

本發明係關於一種運送物品方法、多樓層運送控制系統及無人搬運車，尤其是指一種無人搬運車之多樓層運送物品方法、無人搬運車之多樓層運送控制系統及其多樓層運送物品之無人搬運車。The present invention relates to a method for transporting items, a multi-floor transport control system and an unmanned guided vehicle, in particular to a method for transporting items on multiple floors of an unmanned guided vehicle, a multi-floor transport control system for an unmanned guided vehicle, and an unmanned vehicle for transporting items on multiple floors. Van.

一般來說，大部分的製造業通常都需要大量的人力來進行作業，然而當製造業的規模越來越大時，很容易出現人力資源不足的問題，且大量的人力也會反應到製造產品的成本上，因此有越來越多的工業開始導入自動化的技術，以藉此降低人力的成本，且還能增加作業的效率。在常見的自動化技術中，以無人搬運車（Automatic Guided Vehicle）相對於人力操作具有快速且精準的優點而廣為使用。Generally speaking, most manufacturing industries usually require a large amount of manpower to perform operations. However, when the scale of the manufacturing industry becomes larger and larger, the problem of insufficient human resources is prone to occur, and a large amount of manpower will also reflect the production of products. In terms of cost, more and more industries have begun to introduce automation technology to reduce labor costs and increase the efficiency of operations. Among the common automation technologies, the Automatic Guided Vehicle is widely used because it has the advantages of speed and precision compared with manual operation.

在現有技術中，無人搬運車應用於物流倉庫中最能體現出其價值，也因此現有的物流倉庫大都會配合無人搬運車的特性來規劃，即物流倉庫的通常會規劃成腹地廣大的單樓層空間，然後再配合無人堆高機等其他設備來進行物品的擺放堆疊。In the existing technology, the application of unmanned trucks in logistics warehouses can best reflect its value. Therefore, the existing logistics warehouses are mostly planned according to the characteristics of unmanned trucks, that is, the logistics warehouses are usually planned as a single floor with a vast hinterland. space, and then cooperate with other equipment such as unmanned stackers to place and stack items.

承上所述，由於現有的無人搬運車大都與物流倉儲互相配合而以平面運輸為主，但當無人搬運車應用於工廠的倉儲時，由於工廠的並非全面針對倉儲而設計，通常還會依據製造與倉儲的目的規劃出不同樓層的作業空間，因此當現有的無人搬運車應用於工廠作業時，往往還需要人力或其他規劃，使製造好的物品可以先由製造的樓層移送至倉儲的樓層後，再用無人搬運車將物品進行倉儲作業，也因此使得無人搬運車的應用受到了限制。As mentioned above, since most of the existing unmanned trucks cooperate with logistics and warehousing, they mainly use plane transportation. However, when unmanned trucks are used in the warehousing of factories, because the factory is not fully designed for warehousing, it is usually based on warehousing. The purpose of manufacturing and warehousing is to plan working spaces on different floors. Therefore, when the existing unmanned trucks are used in factory operations, manpower or other planning is often required, so that the manufactured items can be moved from the manufacturing floor to the storage floor. Afterwards, unmanned trucks are used to store items, which limits the application of unmanned trucks.

有鑒於在先前技術中，由於現有的無人搬運車只能在平面移動，當遇到多樓層的移動時，往往只能透過在不同樓層設置不同無人搬運車，然後搭配人力或其他規劃來使物品可以在不同樓層之無人搬運車之間進行轉移，導致無人搬運車在使用上受到限制而非常不便利；緣此，本發明的主要目的在於提供一種無人搬運車之多樓層運送控制系統以及一種無人搬運車之多樓層運送物品方法，藉以使無人搬運車可以自行跨樓層間的運送物品。In view of the fact that in the prior art, since the existing unmanned trucks can only move on the plane, when encountering the movement of multiple floors, it is often only possible to set up different unmanned trucks on different floors, and then cooperate with manpower or other planning to make the goods. It can be transferred between unmanned trucks on different floors, which results in the limited use of unmanned trucks and is very inconvenient; therefore, the main purpose of the present invention is to provide a multi-floor transportation control system for unmanned trucks and an unmanned truck. The method of transporting goods on multiple floors of the truck, so that the unmanned truck can transport goods across the floors by itself.

本發明為解決先前技術之問題，所採用的必要技術手段是提供一種無人搬運車之多樓層運送控制系統，係應用於一建築物，建築物包含複數個樓層與一連通於樓層之電梯井，控制系統包含一電梯設備以及一無人搬運車。電梯設備包含一車廂、複數個電梯門以及一電梯控制器。In order to solve the problems of the prior art, the necessary technical means adopted by the present invention is to provide a multi-floor transportation control system for an unmanned vehicle, which is applied to a building, and the building includes a plurality of floors and an elevator shaft connected to the floors, The control system includes an elevator device and an unmanned truck. The elevator equipment includes a car, a plurality of elevator doors and an elevator controller.

車廂係可移動地設置於電梯井，用以通往樓層其中之一。複數個電梯門係分別設置於樓層，並分別連通於電梯井。電梯控制器係電性連結於車廂與電梯門，用以控制車廂移動至樓層其中之一者，並用以控制電梯門開啟或關閉。The carriage is movably arranged in the elevator shaft to lead to one of the floors. A plurality of elevator doors are respectively arranged on the floors and are respectively connected to the elevator shaft. The elevator controller is electrically connected to the car and the elevator door, and is used to control the car to move to one of the floors, and to control the opening or closing of the elevator door.

無人搬運車包含一移動裝置、一導航模組、一無線通訊模組、一路徑規劃模組、一定位模組、一處理模組以及一電梯遙控模組。導航模組係電性連結於移動裝置，用以驅使移動裝置移動。The unmanned truck includes a mobile device, a navigation module, a wireless communication module, a path planning module, a positioning module, a processing module and an elevator remote control module. The navigation module is electrically connected to the mobile device for driving the mobile device to move.

無線通訊模組係電性連結於移動裝置，並通訊連結於電梯控制器與一電子裝置，用以接收自電子裝置所傳送之一工作指令，工作指令包含一目標樓層與一位於目標樓層之目標位置。The wireless communication module is electrically connected to the mobile device, and is connected to the elevator controller and an electronic device in communication for receiving a work order transmitted from the electronic device. The work order includes a target floor and a target located on the target floor Location.

路徑規劃模組係電性連結於導航模組與無線通訊模組，用以依據工作指令規劃一層間移動路徑，層間移動路徑依序包含一在一當前樓層自一當前位置延伸至電梯設備之當前樓層移動路徑、一電梯升降路徑以及一在目標樓層自電梯設備延伸至目標位置之目標樓層移動路徑，導航模組係依據當前樓層移動路徑控制移動裝置在當前樓層移動至車廂內，且導航模組更在車廂移動至目標樓層時，依據目標樓層移動路徑控制移動裝置在目標樓層移動至目標位置。The path planning module is electrically connected to the navigation module and the wireless communication module, and is used to plan the moving path between floors according to the work instruction. The moving path between floors sequentially includes a current floor extending from a current position to the current elevator equipment The floor moving path, an elevator lifting path and a target floor moving path extending from the elevator equipment to the target position on the target floor. The navigation module controls the mobile device to move to the car on the current floor according to the current floor moving path, and the navigation module Furthermore, when the carriage moves to the target floor, the mobile device is controlled to move to the target position on the target floor according to the movement path of the target floor.

定位模組係電性連結於導航模組與路徑規劃模組，用以定位無人搬運車在樓層其中之當前樓層之當前位置。The positioning module is electrically connected to the navigation module and the path planning module for positioning the current position of the unmanned guided vehicle on the current floor of the floors.

處理模組係電性連結於路徑規劃模組，用以計算無人搬運車沿當前樓層移動路徑自當前位置移動至車廂中所需之一移動時距。The processing module is electrically connected to the path planning module, and is used for calculating a moving time distance required for the unmanned guided vehicle to move from the current position to the carriage along the moving path of the current floor.

電梯遙控模組係電性連結於處理模組與無線通訊模組，用以在移動時距內控制電梯門其中對應於當前樓層之一當前樓層電梯門開啟，並在無人搬運車移動至車廂後，控制當前樓層電梯門關閉，且電梯遙控模組更在車廂移動至目標樓層後，控制電梯門其中對應於目標樓層之一目標樓層電梯門開啟，並在無人搬運車沿目標樓層移動路徑移出車廂後，控制目標樓層電梯門關閉。The elevator remote control module is electrically connected to the processing module and the wireless communication module, and is used to control the elevator door within the moving time distance, wherein the elevator door corresponding to the current floor of one of the current floors is opened, and after the unmanned truck moves to the carriage , control the elevator door of the current floor to close, and the elevator remote control module controls the elevator door to open one of the elevator doors corresponding to the target floor after the car moves to the target floor, and moves the unmanned truck out of the car along the moving path of the target floor. After that, control the elevator door of the target floor to close.

在上述必要技術手段所衍生之一附屬技術手段中，處理模組更包含一電梯移動時間計算單元，電梯移動時間計算單元係電性連結於電梯遙控模組，用以依據電梯升降路徑計算出車廂自當前樓層移動至目標樓層所需之一電梯移動時間，電梯遙控模組係依據電梯移動時間控制電梯門其中對應於目標樓層之一目標樓層電梯門開啟。In an auxiliary technical means derived from the above-mentioned necessary technical means, the processing module further includes an elevator travel time calculation unit, and the elevator travel time calculation unit is electrically connected to the elevator remote control module for calculating the car according to the elevator lift path. The elevator remote control module controls the elevator door according to the elevator moving time required to move from the current floor to the target floor, wherein the elevator door of a target floor corresponding to the target floor is opened.

較佳者，處理模組更包含一無人車移動時間計算單元，無人車移動時間計算單元係用以計算無人搬運車沿當前樓層移動路徑自當前位置移動至車廂中所需之移動時距，並用以計算無人搬運車在目標樓層移動出車廂所需之一出電梯時距，藉以使電梯遙控模組依據出電梯時距控制目標樓層電梯門關閉。Preferably, the processing module further includes an unmanned vehicle movement time calculation unit, and the unmanned vehicle movement time calculation unit is used to calculate the movement time required for the unmanned guided vehicle to move from the current position to the carriage along the current floor movement path, and use the To calculate an elevator exit time interval required for the unmanned guided vehicle to move out of the car on the target floor, so that the elevator remote control module controls the elevator door of the target floor to close according to the elevator exit time interval.

本發明為解決先前技術之問題，所採用之另一必要技術手段是提供一種無人搬運車之多樓層運送物品方法，係應用於一建築物，建築物包含多個樓層與一通往樓層之電梯，無人搬運車之多樓層運送物品方法包含以下步驟（A）至步驟（E）。步驟（A）是利用一電子裝置發送一工作指令至一無人搬運車。In order to solve the problems of the prior art, another necessary technical means adopted by the present invention is to provide a method for transporting goods on multiple floors by an unmanned guided vehicle, which is applied to a building, and the building includes multiple floors and an elevator leading to the floors. , the method for transporting goods on multiple floors by an unmanned guided vehicle includes the following steps (A) to (E). Step (A) is to use an electronic device to send a work order to an unmanned guided vehicle.

步驟（B）是無人搬運車依據工作指令規劃一層間移動路徑，層間移動路徑依序包含一當前樓層移動路徑、一電梯升降路徑以及一目標樓層移動路徑。Step (B) is that the unmanned guided vehicle plans an inter-floor moving path according to the work instruction, and the inter-floor moving path sequentially includes a current floor moving path, an elevator lift path and a target floor moving path.

步驟（C）是無人搬運車依據當前樓層移動路徑在當前樓層自當前位置朝電梯設備移動，並在無人搬運車移動至車廂之前，控制一當前樓層電梯門開啟。Step (C) is that the unmanned guided vehicle moves from the current position to the elevator equipment on the current floor according to the moving path of the current floor, and controls the elevator door of a current floor to open before the unmanned guided vehicle moves to the car.

步驟（D）是當無人搬運車移動至車廂後，控制當前樓層電梯門關閉，並控制車廂移動至目標樓層。Step (D) is to control the elevator door of the current floor to be closed after the unmanned guided vehicle moves to the car, and to control the car to move to the target floor.

步驟（E）是當車廂移動至目標樓層後，控制一目標樓層電梯門開啟。Step (E) is to control the elevator door of a target floor to open when the car moves to the target floor.

在上述必要技術手段所衍生之一附屬技術手段中，無人搬運車之多樓層運送物品方法更包含一步驟（F），是在無人搬運車沿目標樓層移動路徑移出車廂後，控制目標樓層電梯門關閉。In an auxiliary technical means derived from the above-mentioned necessary technical means, the method for transporting goods on multiple floors by an unmanned guided vehicle further includes a step (F) of controlling the elevator door of the target floor after the unmanned guided vehicle moves out of the carriage along the moving path of the target floor. closure.

如上所述，本發明是透過路徑規劃模組規劃出層間移動路徑，然後利用處理模組依據層間移動路徑計算出無人搬運車移動至車廂中所需之移動時距，進而使電梯遙控模組可以依據移動時距來控制電梯門與廂門在無人搬運車到達電梯設備之前就開啟，藉以使無人搬運車可以無縫接軌的直接進入車廂內而不需停留等待車廂到達當前樓層，有效的增加無人搬運車的工作效率。As mentioned above, the present invention plans the inter-layer moving path through the path planning module, and then uses the processing module to calculate the moving time distance required for the unmanned vehicle to move into the carriage according to the inter-layer moving path, so that the elevator remote control module can According to the moving time distance, the elevator door and the car door are controlled to open before the unmanned truck reaches the elevator equipment, so that the unmanned truck can seamlessly enter the car without waiting for the car to reach the current floor, effectively increasing the number of unmanned vehicles. The efficiency of the truck.

本發明所採用的具體實施例，將藉由以下之實施例及圖式作進一步之說明。The specific embodiments adopted by the present invention will be further described by the following embodiments and drawings.

請參閱第一圖與第二圖，第一圖係顯示本發明較佳實施例所提供之無人搬運車之多樓層運送控制系統之系統方塊圖；第二圖係顯示本發明較佳實施例所提供之無人搬運車之多樓層運送控制系統應用於建築物之立體示意圖。Please refer to the first and second figures. The first figure shows the system block diagram of the multi-floor transportation control system of the unmanned guided vehicle provided by the preferred embodiment of the present invention; the second figure shows the preferred embodiment of the present invention. Provided is a three-dimensional schematic diagram of the application of the multi-floor transportation control system of the unmanned vehicle to the building.

如第一圖與第二圖所示，一種無人搬運車之多樓層運送控制系統100（以下簡稱多樓層運送控制系統），係應用於一建築物200，建築物200包含二樓層201與202以及一連通於樓層201與202之電梯井203。As shown in the first and second figures, a multi-floor transportation control system 100 for an unmanned guided vehicle (hereinafter referred to as a multi-floor transportation control system) is applied to a building 200, and the building 200 includes two floors 201 and 202 and An elevator shaft 203 connected to floors 201 and 202.

多樓層運送控制系統100包含一電梯設備1以及一多樓層運送物品之無人搬運車2（以下簡稱無人搬運車）。電梯設備1包含一車廂11、二電梯門12（第一圖中僅標示一個）以及一電梯控制器13。The multi-floor transportation control system 100 includes an elevator device 1 and an unmanned guided vehicle 2 (hereinafter referred to as the unmanned guided vehicle) for conveying articles on multiple floors. The elevator apparatus 1 includes a car 11 , two elevator doors 12 (only one is marked in the first figure), and an elevator controller 13 .

車廂11係可移動地設置於電梯井203，用以通往二樓層201與202其中之一者，且車廂11具有一廂門111。二電梯門12係分別設置於樓層201與202，並分別連通於電梯井203。需特別說明的是，在第二圖中，為了使車廂11與電梯井203之間的關係可以清楚明瞭，故在第二圖中將廂門111與電梯門12省略未顯示。The car 11 is movably disposed in the elevator shaft 203 to lead to one of the second floors 201 and 202 , and the car 11 has a car door 111 . The two elevator doors 12 are respectively disposed on the floors 201 and 202 and communicate with the elevator shaft 203 respectively. It should be noted that, in the second figure, in order to make the relationship between the car 11 and the elevator shaft 203 clear, the car door 111 and the elevator door 12 are omitted and not shown in the second figure.

電梯控制器13包含一車廂升降控制單元131、一廂門啟閉控制單元132以及一電梯門啟閉控制單元133。車廂升降控制單元131係電性連結於車廂11，用以控制車廂11在電梯井203內上升或下降；在實際運用上，車廂升降控制單元131例如是連結於車廂11之驅動裝置，藉以控制車廂11之本體可以上升或下降。The elevator controller 13 includes a car lift control unit 131 , a car door opening and closing control unit 132 , and an elevator door opening and closing control unit 133 . The car lift control unit 131 is electrically connected to the car 11 to control the car 11 to ascend or descend in the elevator shaft 203 ; in practice, the car lift control unit 131 is, for example, a drive device connected to the car 11 to control the car The body of 11 can go up or down.

廂門啟閉控制單元132係電性連結於廂門111，用以控制廂門111開啟或關閉；在實際運用上，廂門啟閉控制單元132例如是電性連結於廂門111之驅動裝置，藉以控制廂門111開啟或關閉。The car door opening and closing control unit 132 is electrically connected to the car door 111 to control the opening or closing of the car door 111 ; in practice, the car door opening and closing control unit 132 is, for example, electrically connected to the drive device of the car door 111 . , so as to control the door 111 to open or close.

電梯門啟閉控制單元133是電性連結於電梯門12，用以控制電梯門12開啟或關閉；在實際運用上，電梯門啟閉控制單元133例如是電性連結於電梯門12之驅動裝置，藉以控制電梯門12開啟或關閉。The elevator door opening and closing control unit 133 is electrically connected to the elevator door 12 to control the opening or closing of the elevator door 12 ; in practice, the elevator door opening and closing control unit 133 is, for example, electrically connected to the drive device of the elevator door 12 , so as to control the opening or closing of the elevator door 12 .

無人搬運車2包含一移動裝置21、一導航模組22、一無線通訊模組23、一路徑規劃模組24、一定位模組25、一處理模組26以及一電梯遙控模組27。The unmanned guided vehicle 2 includes a mobile device 21 , a navigation module 22 , a wireless communication module 23 , a path planning module 24 , a positioning module 25 , a processing module 26 and an elevator remote control module 27 .

移動裝置21實務上例如是由多個輪子、轉向機構與驅動馬達所組成，在車輛移動的技術中為常見的技術，故在此不多加贅述。In practice, the moving device 21 is composed of, for example, a plurality of wheels, a steering mechanism and a driving motor, which are common technologies in the technology of vehicle movement, so they are not described in detail here.

導航模組22是電性連結於移動裝置21，用以驅使移動裝置21移動。在本實施例中，導航模組22例如是由多個傳感器、加速計以及陀螺儀所組成之慣性導航裝置，可以控制移動裝置21之移動速度與方向。The navigation module 22 is electrically connected to the mobile device 21 for driving the mobile device 21 to move. In this embodiment, the navigation module 22 is, for example, an inertial navigation device composed of a plurality of sensors, accelerometers and gyroscopes, and can control the moving speed and direction of the mobile device 21 .

無線通訊模組23是電性連結於移動裝置21，並通訊連結於電梯控制器13與一電子裝置（圖未標示），用以接收自電子裝置所傳送之一工作指令，工作指令包含一目標樓層（在本實施例中為樓層202）與一位於目標樓層之目標位置TP。其中，電子裝置例如為智慧型手機，使用者可以透過智慧型手機發送工作指令至多樓層運送物品之無人搬運車2之無線通訊模組23，而工作指令實際上例如為跨樓層之巡檢補貨作業，或者為跨樓層之物品運送作業。The wireless communication module 23 is electrically connected to the mobile device 21, and is communicatively connected to the elevator controller 13 and an electronic device (not shown in the figure), for receiving a work command sent from the electronic device, and the work command includes a target A floor (floor 202 in this embodiment) and a target position TP at the target floor. Among them, the electronic device is, for example, a smart phone. The user can send work orders to the wireless communication module 23 of the unmanned truck 2 for transporting goods on multiple floors through the smart phone. The work order is actually, for example, inspection and replenishment across floors Operations, or transport operations for items across floors.

承上所述，本實施例之無線通訊模組23例如為Wi-Fi模組，藉以透過Wi-Fi模組無線通訊連結至電梯控制器13；其中，當電梯控制器13本身具有無線通訊裝置時，無線通訊模組23可以直接無線通訊連結於電梯控制器13，然而當電梯控制器13是以有線的方式連結至後台主機或雲端伺服器時，無線通訊模組23也可透過區域網路或網際網路間接的通訊連結至電梯控制器13。As mentioned above, the wireless communication module 23 of the present embodiment is, for example, a Wi-Fi module, so as to be connected to the elevator controller 13 through wireless communication through the Wi-Fi module; wherein, when the elevator controller 13 itself has a wireless communication device However, when the elevator controller 13 is connected to the backend host or the cloud server in a wired manner, the wireless communication module 23 can also be connected to the elevator controller 13 through a local area network. or the Internet indirectly connected to the elevator controller 13 .

路徑規劃模組24是電性連結於導航模組22與無線通訊模組23，用以依據工作指令規劃一層間移動路徑MW。在本實施例中，工作指令是指使無人搬運車2移動至樓層202，而由於無人搬運車2一開始在樓層201，因此樓層201即為無人搬運車2所在的當前樓層，樓層202則為目標樓層，藉此，層間移動路徑MW依序包含一當前樓層移動路徑MW1、一電梯升降路徑MW2以及一目標樓層移動路徑MW3，當前樓層移動路徑MW1是在當前樓層（樓層201）自當前位置（圖未標示，即多樓層運送物品之無人搬運車2於第二圖中所在位置）延伸至車廂11，電梯升降路徑MW2是從樓層201延伸至樓層202，目標樓層移動路徑MW3是在目標樓層（樓層202）自車廂11延伸至目標位置TP。The path planning module 24 is electrically connected to the navigation module 22 and the wireless communication module 23 for planning the moving path MW between layers according to the work instruction. In this embodiment, the work order refers to moving the unmanned guided vehicle 2 to the floor 202, and since the unmanned guided vehicle 2 is initially on the floor 201, the floor 201 is the current floor where the unmanned guided vehicle 2 is located, and the floor 202 is the target floor, whereby the inter-floor moving path MW sequentially includes a current floor moving path MW1, an elevator lift path MW2 and a target floor moving path MW3, the current floor moving path MW1 is the current floor (floor 201) from the current position (Fig. Not marked, that is, the position of the multi-floor unmanned guided vehicle 2 for transporting goods in the second figure) extends to the car 11, the elevator lift path MW2 extends from the floor 201 to the floor 202, and the target floor moving path MW3 is at the target floor (floor). 202) Extend from the carriage 11 to the target position TP.

承上所述，導航模組22是依據當前樓層移動路徑MW1控制移動裝置21在當前樓層（樓層201）移動至車廂11內，且導航模組22更在車廂11移動至目標樓層（樓層202）時，依據目標樓層移動路徑MW3控制移動裝置21在目標樓層（樓層202）移動至目標位置TP。As mentioned above, the navigation module 22 controls the mobile device 21 to move to the car 11 on the current floor (floor 201 ) according to the current floor moving path MW1 , and the navigation module 22 further moves to the target floor (floor 202 ) in the car 11 , the mobile device 21 is controlled to move to the target position TP on the target floor (floor 202 ) according to the target floor movement path MW3 .

定位模組25是電性連結於導航模組22與路徑規劃模組24，用以定位多樓層運送物品之無人搬運車2在當前樓層（樓層201）之當前位置，藉以使路徑規劃模組24可以依據當前位置與工作指令去規劃出層間移動路徑MW，且導航模組22也可以依據定位模組25定位出之當前位置來確認移動裝置21是否沿著層間移動路徑MW移動。The positioning module 25 is electrically connected to the navigation module 22 and the path planning module 24, and is used to locate the current position of the unmanned vehicle 2 on the current floor (floor 201) for transporting goods on multiple floors, so that the path planning module 24 The inter-layer moving path MW can be planned according to the current position and the work instruction, and the navigation module 22 can also confirm whether the mobile device 21 moves along the inter-layer moving path MW according to the current position located by the positioning module 25 .

處理模組26是電性連結於路徑規劃模組24，並且包含一無人車移動時間計算單元261以及一電梯移動時間計算單元262。無人車移動時間計算單元261是用以計算無人搬運車2沿當前樓層移動路徑MW1自當前位置移動至車廂11中所需之移動時距；此外，無人車移動時間計算單元261還用以計算無人搬運車2在目標樓層（樓層202）移動出車廂11所需之一出電梯時距。The processing module 26 is electrically connected to the path planning module 24 , and includes an unmanned vehicle movement time calculation unit 261 and an elevator movement time calculation unit 262 . The unmanned vehicle moving time calculation unit 261 is used to calculate the moving time required for the unmanned guided vehicle 2 to move from the current position to the carriage 11 along the current floor moving path MW1; in addition, the unmanned vehicle moving time calculation unit 261 is also used to calculate the unmanned vehicle One of the time intervals required for the truck 2 to move out of the car 11 at the target floor (floor 202 ) is to get out of the elevator.

電梯移動時間計算單元262是用以依據電梯升降路徑MW2計算出車廂自當前樓層（樓層201）移動至目標樓層（樓層202）所需之一電梯移動時間。The elevator moving time calculation unit 262 is used to calculate an elevator moving time required for the car to move from the current floor (floor 201 ) to the target floor (floor 202 ) according to the elevator lift path MW2 .

電梯遙控模組27是電性連結於處理模組26之無人車移動時間計算單元261與電梯移動時間計算單元262以及無線通訊模組23，用以在移動時距內控制對應於當前樓層之一當前樓層電梯門（即對應於樓層201之電梯門12）開啟，並在無人搬運車2移動至車廂11後，控制當前樓層電梯門關閉，且電梯遙控模組27更在車廂11移動至目標樓層（樓層202）後，控制對應於目標樓層之一目標樓層電梯門（即對應於樓層202之電梯門12）開啟，並在無人搬運車2沿目標樓層移動路徑MW3移出車廂11後，控制目標樓層電梯門關閉。The elevator remote control module 27 is electrically connected to the unmanned vehicle movement time calculation unit 261 and the elevator movement time calculation unit 262 and the wireless communication module 23 of the processing module 26, and is used to control one of the floors corresponding to the current floor within the movement time distance. The elevator door of the current floor (ie the elevator door 12 corresponding to floor 201 ) is opened, and after the unmanned guided vehicle 2 moves to the car 11 , the elevator door of the current floor is controlled to be closed, and the elevator remote control module 27 moves to the target floor in the car 11 After (floor 202), control the elevator door corresponding to one of the target floors (ie, the elevator door 12 corresponding to floor 202) to open, and after the unmanned guided vehicle 2 moves out of the car 11 along the moving path MW3 of the target floor, control the target floor The elevator doors are closed.

請繼續參閱第三圖，第三圖係顯示本發明較佳實施例所提供之無人搬運車之多樓層運送物品方法之步驟流程圖。如第一圖至第三圖所示，以上述之多樓層運送控制系統100為基礎，本發明之無人搬運車之多樓層運送物品方法包含以下步驟S101至步驟S106。Please continue to refer to the third figure. The third figure is a flow chart showing the steps of the method for transporting goods on multiple floors of an unmanned guided vehicle according to a preferred embodiment of the present invention. As shown in Figures 1 to 3, based on the above-mentioned multi-floor transportation control system 100, the method for transporting articles on multiple floors of an unmanned guided vehicle of the present invention includes the following steps S101 to S106.

首先，步驟S101是發送工作指令至無人搬運車2；實際上例如是使用者利用電子裝置發送工作指令至無人搬運車。First, step S101 is to send a work order to the unmanned guided vehicle 2 ; in fact, for example, the user uses an electronic device to send a work order to the unmanned guided vehicle.

步驟S102是無人搬運車2依據工作指令規劃層間移動路徑MW，層間移動路徑MW依序包含當前樓層移動路徑MW1、電梯升降路徑MW2以及目標樓層移動路徑MW3。Step S102 is that the unmanned guided vehicle 2 plans the inter-floor moving path MW according to the work instruction, and the inter-floor moving path MW sequentially includes the current floor moving path MW1, the elevator lift path MW2 and the target floor moving path MW3.

步驟S103是多樓層運送物品之無人搬運車2依據當前樓層移動路徑MW1在當前樓層（樓層201）自當前位置朝電梯設備1移動，並在無人搬運車2移動至車廂11之前控制當前樓層電梯門（對應於樓層201之電梯門12）與廂門111開啟；其中，步驟S103例如是利用電梯遙控模組27透過無線通訊模組23遠端驅使電梯控制器13控制電梯門12與廂門111開啟。Step S103 is that the unmanned guided vehicle 2 transporting goods on multiple floors moves from the current position to the elevator equipment 1 on the current floor (floor 201 ) according to the current floor moving path MW1, and controls the elevator door of the current floor before the unmanned guided vehicle 2 moves to the car 11 (corresponding to the elevator door 12 of the floor 201) and the car door 111 are opened; wherein, in step S103, for example, the elevator remote control module 27 is used to remotely drive the elevator controller 13 to control the elevator door 12 and the car door 111 through the wireless communication module 23 to open. .

步驟104是當多樓層運送物品之無人搬運車2移動至車廂11後，控制當前樓層電梯門與廂門111關閉，並控制車廂11移動至目標樓層（樓層202）；其中，步驟S104例如是利用電梯遙控模組27透過無線通訊模組23遠端驅使電梯控制器13控制電梯門12與廂門111關閉。Step 104 is to control the elevator door and the car door 111 of the current floor to be closed after the multi-floor unmanned vehicle 2 transporting goods moves to the car 11, and to control the car 11 to move to the target floor (floor 202); wherein, step S104 is, for example, using The elevator remote control module 27 remotely drives the elevator controller 13 to control the elevator door 12 and the car door 111 to close through the wireless communication module 23 .

步驟105是當車廂11移動至目標樓層後，控制目標樓層電梯門（對應於樓層202之電梯門12）與廂門111開啟；其中，步驟S105例如是利用電梯遙控模組27透過無線通訊模組23遠端驅使電梯控制器13控制電梯門12與廂門111開啟。Step 105 is to control the elevator door (corresponding to the elevator door 12 of the floor 202) and the door 111 of the target floor to open when the car 11 moves to the target floor; wherein, the step S105 is, for example, using the elevator remote control module 27 through a wireless communication module 23 Remotely drives the elevator controller 13 to control the elevator door 12 and the car door 111 to open.

最後，步驟S106是在無人搬運車2沿目標樓層移動路徑MW3移出車廂11後，控制目標樓層電梯門與廂門111關閉；同上述步驟S104，實務上是利用電梯遙控模組27透過無線通訊模組23遠端驅使電梯控制器13控制電梯門12與廂門111關閉。Finally, step S106 is to control the elevator door and the car door 111 of the target floor to be closed after the unmanned guided vehicle 2 moves out of the car 11 along the moving path MW3 of the target floor; the same as the above step S104, in practice, the elevator remote control module 27 is used through the wireless communication mode. The group 23 remote drives the elevator controller 13 to control the elevator door 12 and the car door 111 to close.

綜上所述，由於先前技術之無人搬運車通常都只能在平面上進行運輸，當遇到多樓層之間的運輸時，往往還要其他配合機制才能完成，導致使用上非常不便利，且使無人搬運車的使用環境受到限制；相較於此，由於本發明主要是透過路徑規劃模組規劃出層間移動路徑，然後利用處理模組依據層間移動路徑計算出無人搬運車移動至車廂中所需之移動時距，進而使電梯遙控模組可以依據移動時距來控制電梯門與廂門在無人搬運車到達電梯設備之前就開啟，藉以使無人搬運車可以無縫接軌的直接進入車廂內而不需停留等待車廂到達當前樓層，有效的增加無人搬運車的工作效率，因此本發明相較於先前技術確實更具有不可預期之功效。To sum up, since the unmanned trucks of the prior art can usually only be transported on a plane, when the transportation between multiple floors is encountered, other cooperation mechanisms are often required to complete the operation, which is very inconvenient to use, and The use environment of the unmanned guided vehicle is limited; compared with this, because the present invention mainly plans the inter-layer moving path through the path planning module, and then uses the processing module to calculate the location where the unmanned guided vehicle moves to the carriage according to the inter-layer moving path. The required moving time distance, so that the elevator remote control module can control the elevator door and the car door to open before the unmanned truck arrives at the elevator equipment according to the moving time distance, so that the unmanned truck can directly enter the car in a seamless manner. There is no need to wait for the carriage to reach the current floor, which effectively increases the working efficiency of the unmanned guided vehicle. Therefore, the present invention has an unexpected effect compared with the prior art.

藉由以上較佳具體實施例之詳述，係希望能更加清楚描述本發明之特徵與精神，而並非以上述所揭露的較佳具體實施例來對本發明之範疇加以限制。相反地，其目的是希望能涵蓋各種改變及具相等性的安排於本發明所欲申請之專利範圍的範疇內。Through the detailed description of the preferred embodiments above, it is hoped that the features and spirit of the present invention can be described more clearly, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the intention is to cover various modifications and equivalent arrangements within the scope of the claimed scope of the present invention.

100:無人搬運車之多樓層運送控制系統 1:電梯設備 11:車廂 111:廂門 12:電梯門 13:電梯控制器 131:車廂升降控制單元 132:廂門啟閉控制單元 133:電梯門啟閉控制單元 2:多樓層運送物品之無人搬運車 21:移動裝置 22:導航模組 23:無線通訊模組 24:路徑規劃模組 25:定位模組 26:處理模組 261:無人車移動時間計算單元 262:電梯移動時間計算單元 27:電梯遙控模組 200:建築物 201,202:樓層 203:電梯井 TP:目標位置 MW:層間移動路徑 MW1:當前樓層移動路徑 MW2:電梯升降路徑 MW3:目標樓層移動路徑 100: Multi-floor transportation control system for unmanned trucks 1: Elevator equipment 11: Carriage 111: compartment door 12: Elevator door 13: Elevator Controller 131: Car lift control unit 132: Door opening and closing control unit 133: Elevator door opening and closing control unit 2: Unmanned van for transporting goods on multiple floors 21: Mobile Devices 22: Navigation module 23: Wireless communication module 24: Path Planning Module 25: Positioning module 26: Processing modules 261: Unmanned vehicle movement time calculation unit 262: Elevator moving time calculation unit 27: Elevator remote control module 200: Buildings 201, 202: Floor 203: Elevator shaft TP: target position MW: moving path between layers MW1: current floor movement path MW2: Elevator lift path MW3: target floor movement path

第一圖係顯示本發明較佳實施例所提供之無人搬運車之多樓層運送控制系統之系統方塊圖；第二圖係顯示本發明較佳實施例所提供之無人搬運車之多樓層運送控制系統應用於建築物之立體示意圖；以及第三圖係顯示本發明較佳實施例所提供之無人搬運車之多樓層運送物品方法之步驟流程圖。 The first figure is a system block diagram showing the multi-floor transportation control system of the unmanned guided vehicle provided by the preferred embodiment of the present invention; The second figure is a three-dimensional schematic diagram showing that the multi-floor transportation control system of the unmanned guided vehicle provided by the preferred embodiment of the present invention is applied to a building; and The third figure is a flow chart showing the steps of the method for transporting goods on multiple floors of an unmanned guided vehicle according to a preferred embodiment of the present invention.

100:無人搬運車之多樓層運送控制系統 100: Multi-floor transportation control system for unmanned trucks

1:電梯設備 1: Elevator equipment

11:車廂 11: Carriage

111:廂門 111: compartment door

12:電梯門 12: Elevator door

13:電梯控制器 13: Elevator Controller

131:車廂升降控制單元 131: Car lift control unit

132:廂門啟閉控制單元 132: Door opening and closing control unit

133:電梯門啟閉控制單元 133: Elevator door opening and closing control unit

2:多樓層運送物品之無人搬運車 2: Unmanned van for transporting goods on multiple floors

21:移動裝置 21: Mobile Devices

22:導航模組 22: Navigation module

23:無線通訊模組 23: Wireless communication module

24:路徑規劃模組 24: Path Planning Module

25:定位模組 25: Positioning module

26:處理模組 26: Processing modules

261:無人車移動時間計算單元 261: Unmanned vehicle movement time calculation unit

262:電梯移動時間計算單元 262: Elevator moving time calculation unit

27:電梯遙控模組 27: Elevator remote control module

Claims

一種無人搬運車之多樓層運送控制系統，係應用於一建築物，該建築物包含複數個樓層與一連通於該些樓層之電梯井，該控制系統包含：一電梯設備，包含：一車廂，係可移動地設置於該電梯井，用以通往該些樓層其中之一；複數個電梯門，係分別設置於該些樓層，並分別連通於該電梯井；以及一電梯控制器，係電性連結於該車廂與該些電梯門，用以控制該車廂移動至該些樓層其中之一者，並用以控制該些電梯門開啟或關閉；以及一無人搬運車，包含：一移動裝置；一導航模組，係電性連結於該移動裝置，用以驅使該移動裝置移動；一無線通訊模組，係電性連結於該移動裝置，並通訊連結於該電梯控制器與一電子裝置，用以接收自該電子裝置所傳送之一工作指令，該工作指令包含一目標樓層與一位於該目標樓層之目標位置；一路徑規劃模組，係電性連結於該導航模組與該無線通訊模組，用以依據該工作指令規劃一層間移動路徑，該層間移動路徑依序包含一在一當前樓層自一當前位置延伸至該電梯設備之當前樓層移動路徑、一電梯升降路徑以及一在該目標樓層自該電梯設備延伸至該目標位置之目標樓層移動路徑，該導航模組係依據該當前樓層移動路徑控制該移動裝置在該當前樓層移動至該車廂內，且該導航模組更在該車廂移動至該目標樓層時，依據該目標樓層移動路徑控制該移動裝置在該目標樓層移動至該目標位置；一定位模組，係電性連結於該導航模組與該路徑規劃模組，用以定位該無人搬運車在該些樓層其中之該當前樓層之該當前位置；一處理模組，係電性連結於該路徑規劃模組，用以計算該無人搬運車沿該當前樓層移動路徑自該當前位置移動至該車廂中所需之一移動時距；以及一電梯遙控模組，係電性連結於該處理模組與該無線通訊模組，用以在該移動時距內控制該些電梯門其中對應於該當前樓層之一當前樓層電梯門開啟，並在該無人搬運車移動至該車廂後，控制該當前樓層電梯門關閉，且該電梯遙控模組更在該車廂移動至該目標樓層後，控制該些電梯門其中對應於該目標樓層之一目標樓層電梯門開啟，並在該無人搬運車沿該目標樓層移動路徑移出該車廂後，控制該目標樓層電梯門關閉。 A multi-floor transportation control system for an unmanned guided vehicle is applied to a building, the building includes a plurality of floors and an elevator shaft connected to the floors, the control system includes: 1. Elevator equipment, including: a car, which is movably arranged in the elevator shaft for leading to one of the floors; A plurality of elevator doors are respectively arranged on the floors and communicated with the elevator shaft respectively; and an elevator controller, electrically connected to the car and the elevator doors, for controlling the car to move to one of the floors, and for controlling the opening or closing of the elevator doors; and An unmanned truck, including: a mobile device; a navigation module electrically connected to the mobile device for driving the mobile device to move; A wireless communication module is electrically connected to the mobile device, and is communicatively connected to the elevator controller and an electronic device for receiving a work command sent from the electronic device, the work command including a target floor and an electronic device. 1. The target position on the target floor; A path planning module, electrically connected to the navigation module and the wireless communication module, is used for planning a moving path between floors according to the work instruction, and the moving path between floors sequentially includes a current floor from a current position The current floor movement path extending to the elevator equipment, an elevator lifting path and a target floor movement path extending from the elevator equipment to the target position at the target floor, the navigation module controls the movement according to the current floor movement path The device moves into the car on the current floor, and the navigation module further controls the mobile device to move to the target position on the target floor according to the moving path of the target floor when the car moves to the target floor; a positioning module, electrically connected to the navigation module and the path planning module, for positioning the current position of the unmanned guided vehicle on the current floor among the floors; a processing module, electrically connected to the path planning module, for calculating a moving time distance required for the unmanned guided vehicle to move from the current position to the carriage along the moving path of the current floor; and An elevator remote control module is electrically connected to the processing module and the wireless communication module, and is used to control the elevator doors of the elevator doors corresponding to a current floor of the current floor to open within the moving time interval, and After the unmanned guided vehicle moves to the car, control the elevator door of the current floor to close, and the elevator remote control module further controls the elevator doors corresponding to a target of the target floor after the car moves to the target floor The elevator door of the floor is opened, and after the unmanned guided vehicle moves out of the car along the moving path of the target floor, the elevator door of the target floor is controlled to be closed.

如請求項1所述之無人搬運車之多樓層運送控制系統，其中，該處理模組更包含一電梯移動時間計算單元，該電梯移動時間計算單元係電性連結於該電梯遙控模組，用以依據該電梯升降路徑計算出該車廂自該當前樓層移動至該目標樓層所需之一電梯移動時間，該電梯遙控模組係依據該電梯移動時間控制該些電梯門其中對應於該目標樓層之一目標樓層電梯門開啟。The multi-floor conveyance control system for an unmanned guided vehicle as claimed in claim 1, wherein the processing module further comprises an elevator travel time calculation unit, and the elevator travel time calculation unit is electrically connected to the elevator remote control module for using To calculate an elevator travel time required for the car to move from the current floor to the target floor according to the elevator lift path, the elevator remote control module controls the elevator doors corresponding to the target floor according to the elevator travel time. A destination floor elevator door opens.

如請求項2所述之無人搬運車之多樓層運送控制系統，其中，該處理模組更包含一無人車移動時間計算單元，該無人車移動時間計算單元係用以計算該無人搬運車沿該當前樓層移動路徑自該當前位置移動至該車廂中所需之該移動時距，並用以計算該無人搬運車在該目標樓層移動出該車廂所需之一出電梯時距，藉以使該電梯遙控模組依據該出電梯時距控制該目標樓層電梯門關閉。The multi-floor transportation control system for an unmanned guided vehicle according to claim 2, wherein the processing module further comprises an unmanned vehicle moving time calculation unit, and the unmanned vehicle moving time calculation unit is used to calculate the unmanned guided vehicle along the The moving time distance required for the moving path of the current floor to move from the current position to the car is used to calculate the elevator exit time required for the unmanned guided vehicle to move out of the car at the target floor, so that the elevator can be remotely controlled The module controls the elevator door of the target floor to close according to the elevator exit time interval.

如請求項1所述之無人搬運車之多樓層運送控制系統，其中，該車廂更包含一廂門，該電梯控制器更包含一廂門啟閉控制單元，該廂門啟閉控制單元係電性連結於該廂門，用以控制該廂門開啟或關閉。The multi-floor transportation control system for an unmanned guided vehicle as claimed in claim 1, wherein the car further comprises a door, the elevator controller further comprises a door opening and closing control unit, and the door opening and closing control unit is an electrical It is connected to the door to control the opening or closing of the door.

如請求項1所述之無人搬運車之多樓層運送控制系統，其中，該電梯控制器更包含一電梯門啟閉控制單元，該電梯門啟閉控制單元係用以控制該些電梯門開啟或關閉。The multi-floor transportation control system for an unmanned guided vehicle as claimed in claim 1, wherein the elevator controller further comprises an elevator door opening and closing control unit, and the elevator door opening and closing control unit is used to control the opening or closing of the elevator doors. closure.

一種多樓層運送物品之無人搬運車，係在一建築物內控制一電梯設備，該建築物包含複數個樓層與一連通於該些樓層之電梯井，該電梯設備包含一車廂、複數個電梯門與一電梯控制器，該車廂係可移動地設置於該電梯井，該些電梯門係分別設置於該些樓層，並分別連通於該電梯井，該電梯控制器係用以控制該車廂移動至該些樓層其中之一者，並用以控制該些電梯門開啟或關閉，該多樓層運送物品之無人搬運車包含：一移動裝置；一導航模組，係電性連結於該移動裝置，用以驅使該移動裝置移動；一無線通訊模組，係電性連結於該移動裝置，並通訊連結於該電梯控制器與一電子裝置，用以接收自該電子裝置所傳送之一工作指令，該工作指令包含一目標樓層與一位於該目標樓層之目標位置；一路徑規劃模組，係電性連結於該導航模組與該無線通訊模組，用以依據該工作指令規劃一層間移動路徑，該層間移動路徑依序包含一在一當前樓層自一當前位置延伸至該電梯設備之當前樓層移動路徑、一電梯升降路徑以及一在該目標樓層自該電梯設備延伸至該目標位置之目標樓層移動路徑，該導航模組係依據該當前樓層移動路徑控制該移動裝置在該當前樓層移動至該車廂內，且該導航模組更在該車廂移動至該目標樓層時，依據該目標樓層移動路徑控制該移動裝置在該目標樓層移動至該目標位置；一定位模組，係電性連結於該導航模組與該路徑規劃模組，用以定位該無人搬運車在該些樓層其中之該當前樓層之該當前位置；一處理模組，係電性連結於該路徑規劃模組，用以計算該無人搬運車沿該當前樓層移動路徑自該當前位置移動至該車廂中所需之一移動時距；以及一電梯遙控模組，係電性連結於該處理模組與該無線通訊模組，用以在該移動時距內控制該些電梯門其中對應於該當前樓層之一當前樓層電梯門開啟，並在該無人搬運車移動至該車廂後，控制該當前樓層電梯門關閉，且該電梯遙控模組更在該車廂移動至該目標樓層後，控制該些電梯門其中對應於該目標樓層之一目標樓層電梯門開啟，並在該無人搬運車沿該目標樓層移動路徑移出該車廂後，控制該目標樓層電梯門關閉。 An unmanned truck for transporting goods on multiple floors is used to control an elevator equipment in a building, the building includes a plurality of floors and an elevator shaft connected to the floors, the elevator equipment includes a car, a plurality of elevator doors and an elevator controller, the car is movably arranged in the elevator shaft, the elevator doors are respectively arranged on the floors, and are respectively connected to the elevator shaft, the elevator controller is used to control the car to move to One of the floors is used to control the opening or closing of the elevator doors. The multi-floor unmanned guided vehicle for transporting goods includes: a mobile device; a navigation module electrically connected to the mobile device for driving the mobile device to move; A wireless communication module is electrically connected to the mobile device, and is communicatively connected to the elevator controller and an electronic device for receiving a work command sent from the electronic device, the work command including a target floor and an electronic device. 1. The target position on the target floor; A path planning module, electrically connected to the navigation module and the wireless communication module, is used for planning a moving path between floors according to the work instruction, and the moving path between floors sequentially includes a current floor from a current position The current floor movement path extending to the elevator equipment, an elevator lifting path and a target floor movement path extending from the elevator equipment to the target position at the target floor, the navigation module controls the movement according to the current floor movement path The device moves into the car on the current floor, and the navigation module further controls the mobile device to move to the target position on the target floor according to the moving path of the target floor when the car moves to the target floor; a positioning module, electrically connected to the navigation module and the path planning module, for positioning the current position of the unmanned guided vehicle on the current floor among the floors; a processing module, electrically connected to the path planning module, for calculating a moving time distance required for the unmanned guided vehicle to move from the current position to the carriage along the moving path of the current floor; and An elevator remote control module is electrically connected to the processing module and the wireless communication module, and is used to control the elevator doors of the elevator doors corresponding to a current floor of the current floor to open within the moving time interval, and After the unmanned guided vehicle moves to the car, control the elevator door of the current floor to close, and the elevator remote control module further controls the elevator doors corresponding to a target of the target floor after the car moves to the target floor The elevator door of the floor is opened, and after the unmanned guided vehicle moves out of the car along the moving path of the target floor, the elevator door of the target floor is controlled to be closed.

如請求項6所述之多樓層運送物品之無人搬運車，其中，該處理模組更包含一電梯移動時間計算單元，該電梯移動時間計算單元係電性連結於該電梯遙控模組，用以依據該電梯升降路徑計算出該車廂自該當前樓層移動至該目標樓層所需之一電梯移動時間，該電梯遙控模組係依據該電梯移動時間控制該些電梯門其中對應於該目標樓層之一目標樓層電梯門開啟。The unmanned guided vehicle for transporting goods on multiple floors as claimed in claim 6, wherein the processing module further comprises an elevator travel time calculation unit, and the elevator travel time calculation unit is electrically connected to the elevator remote control module for Calculate an elevator travel time required for the car to move from the current floor to the target floor according to the elevator lift path, and the elevator remote control module controls one of the elevator doors corresponding to the target floor according to the elevator travel time The elevator door on the destination floor opens.

如請求項7所述之多樓層運送物品之無人搬運車，其中，該處理模組更包含一無人車移動時間計算單元，該無人車移動時間計算單元係用以計算該無人搬運車沿該當前樓層移動路徑自該當前位置移動至該車廂中所需之該移動時距，並用以計算該無人搬運車在該目標樓層移動出該車廂所需之一出電梯時距，藉以使該電梯遙控模組依據該出電梯時距控制該目標樓層電梯門關閉。 The unmanned guided vehicle for transporting goods on multiple floors according to claim 7, wherein the processing module further comprises an unmanned vehicle moving time calculation unit, and the unmanned vehicle moving time calculation unit is used to calculate the unmanned vehicle along the current The moving time distance required for the moving path of the floor to move from the current position to the car is used to calculate the elevator time distance required for the unmanned guided vehicle to move out of the car at the target floor, so as to make the elevator remote control model The group controls the elevator door of the target floor to close according to the elevator exit time interval.

一種無人搬運車之多樓層運送物品方法，係應用於一建築物與一電梯設備，該建築物包含多個樓層與一通往該些樓層之電梯井，該電梯設備係設置於該電梯井，該無人搬運車之多樓層運送物品方法包含以下步驟：(A)利用一電子裝置發送一工作指令至一無人搬運車；(B)該無人搬運車依據該工作指令規劃一層間移動路徑，該層間移動路徑依序包含一當前樓層移動路徑、一電梯升降路徑以及一目標樓層移動路徑，且該無人搬運車更計算出該當前樓層移動路徑之一移動時距；(C)該無人搬運車依據該當前樓層移動路徑在該些樓層中之一當前樓層自一當前位置朝該電梯設備移動，並在該無人搬運車移動至該電梯設備之一車廂之前，利用該無人搬運車之一電梯遙控模組在該移動時距內控制一當前樓層電梯門開啟；(D)當該無人搬運車移動至該車廂後，利用該電梯遙控模組控制該當前樓層電梯門關閉，並控制該車廂移動至該些樓層中之一目標樓層；以及(E)當該車廂移動至該目標樓層後，控制一目標樓層電梯門開啟。 A method for transporting goods on multiple floors of an unmanned guided vehicle is applied to a building and an elevator equipment, the building includes a plurality of floors and an elevator shaft leading to the floors, and the elevator equipment is arranged in the elevator shaft, The method for transporting articles on multiple floors of the unmanned guided vehicle includes the following steps: (A) using an electronic device to send a work order to an unmanned guided vehicle; (B) the unmanned guided vehicle plans a moving path between floors according to the work command, and the The moving path sequentially includes a current floor moving path, an elevator lift path and a target floor moving path, and the unmanned guided vehicle further calculates a moving time distance of the current floor moving path; (C) the unmanned guided vehicle is based on the The current floor moving path moves from a current position toward the elevator equipment at one of the floors, and before the unmanned guided vehicle moves to a car of the elevator equipment, an elevator remote control module of the unmanned guided vehicle is used Control a current floor elevator door to open within the moving time interval; (D) after the unmanned truck moves to the car, use the elevator remote control module to control the current floor elevator door to close, and control the car moving the car to a target floor among the floors; and (E) controlling an elevator door of a target floor to open after the car moves to the target floor.

如請求項9所述之無人搬運車之多樓層運送物品方法，更包含一步驟(F)，在該無人搬運車沿該目標樓層移動路徑移出該車廂後，控制該目標樓層電梯門關閉。 The method for transporting goods on multiple floors by an unmanned guided vehicle as claimed in claim 9, further comprising a step (F) of controlling the elevator door of the target floor to be closed after the unmanned guided vehicle moves out of the car along the moving path of the target floor.